User Manual

THM5
BEI Sensors SAS
Espace Européen de l’Entreprise
9, rue de Copenhague
B.P. 70044 Schiltigheim
F 67013 Strasbourg Cedex
Tél : [phone]
Fax : [phone]
Mail : [e-mail]
Web :
www.beisensors.com
CANopen ABSOLUTE MULTI-TURN ENCODERS, THM5 RANGE
ELECTRICAL DATA
Power supply 5-30Vdc Sampling rate* 1 kHz
Comsumption without load < 40mA (at 24Vdc) Accuracy ± 0.3 %
Resolution in the turn 12 bits Repeatability ± 0.1 %
Nunmber of turns 16 bits max. Introduction < 1s
Total resolution Up to 28 bits Refresh rate < 400µs
* Nota : Internal data refresh rate
PROGRAMMABLE PARAMETERS
Resolution: defines the resolution per revolution (0 à 4 096).
Transmission speed : programmable from 10kBaud (1 000m) to 1 Mbaud (25 m) ; value per default : 20 Kbaud.
Address : defines the software address of the encoder on the bus (1 à 127, Value per default : id = 1).
Direction : defines the direction of count of the encoder.
RAX : define the value of the current position (stationnary shaft).
Cames : high and low limits.
COMMUNICATION MODES
Encoder configuration : Reading/Writing of the encoder objects dictionnary (SDO mode).
3 modes are available to interrogate the encoder position/speed :
CYCLIC mode : the encoder transmits its position in an asynchronous manner. The frequency of the transmission is defined by the
programmable cyclic timer register from 0 to 65 535 ms,
SYNCHRO mode : the encoder transmits its position on a synchronous demand by the master.
POOLING mode (Answer to a RTR signal) : the encoder only answers to a request.
CANOPEN CONNECTION
1 2 3 4 5 6 7 8, 9, 11 10 12
Reserved CAN LOW CAN GND Reserved Reserved Reserved CAN HIGH Reserved 0V + 5/30Vdc
Pinout 3 (CAN GND) and 10 (0V) are connected together (intern the encoder).
Nota : Refer to the bus standards for the maximal derivation length.
ORDERING CODE (Special versions upon request, for ex. special flanges/electronics/connections…)
Shaft  Power supply
Output
stages
Code Resolution Nb of turns Connection
Connection
orientation
THM5 10 :
10mm
06 :
6mm
P :
5 to 30Vdc
BB :
CANopen
B:
Binary
12 :
4096 points
per turn (2
12
)
B16 :
65 536 turns
(2
16
)
BC:
M23
12 pinouts
clockwise
R :
radial
THM5 _ 10 // P BB B // 12 B16 // BC R
Made in France
Changes possible without further notice - Version 101006